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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">g2o::RobustKernelScaleDelta Class Reference</div>  </div>
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<p>scale a robust kernel to another delta (window size)  
 <a href="classg2o_1_1_robust_kernel_scale_delta.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="robust__kernel__impl_8h_source.html">robust_kernel_impl.h</a>&gt;</code></p>
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Inheritance diagram for g2o::RobustKernelScaleDelta:</div>
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Collaboration diagram for g2o::RobustKernelScaleDelta:</div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0d7d1119654f6e604609bb5b62e79cf2"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">kernel</a> () const</td></tr>
<tr class="memdesc:a0d7d1119654f6e604609bb5b62e79cf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the underlying kernel  <a href="#a0d7d1119654f6e604609bb5b62e79cf2">More...</a><br /></td></tr>
<tr class="separator:a0d7d1119654f6e604609bb5b62e79cf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97376c3ba35370fa551e899fd5391a2f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a97376c3ba35370fa551e899fd5391a2f">robustify</a> (double error, Eigen::Vector3d &amp;rho) const</td></tr>
<tr class="memdesc:a97376c3ba35370fa551e899fd5391a2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function  <a href="#a97376c3ba35370fa551e899fd5391a2f">More...</a><br /></td></tr>
<tr class="separator:a97376c3ba35370fa551e899fd5391a2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acffeae7f685e69018f5b0222155a6eb2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#acffeae7f685e69018f5b0222155a6eb2">RobustKernelScaleDelta</a> (const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> &amp;<a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a0d7d1119654f6e604609bb5b62e79cf2">kernel</a>, double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>=1.)</td></tr>
<tr class="memdesc:acffeae7f685e69018f5b0222155a6eb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">construct the scaled kernel ontop of another kernel which might be shared accross several scaled kernels  <a href="#acffeae7f685e69018f5b0222155a6eb2">More...</a><br /></td></tr>
<tr class="separator:acffeae7f685e69018f5b0222155a6eb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a537a88b2ff5432fb9e1ad2aaa85f60b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a537a88b2ff5432fb9e1ad2aaa85f60b9">RobustKernelScaleDelta</a> (double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>=1.)</td></tr>
<tr class="separator:a537a88b2ff5432fb9e1ad2aaa85f60b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bcc51d0cf3127e8c0431d1cddc1c75b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a3bcc51d0cf3127e8c0431d1cddc1c75b">setKernel</a> (const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> &amp;ptr)</td></tr>
<tr class="memdesc:a3bcc51d0cf3127e8c0431d1cddc1c75b"><td class="mdescLeft">&#160;</td><td class="mdescRight">use another kernel for the underlying operation  <a href="#a3bcc51d0cf3127e8c0431d1cddc1c75b">More...</a><br /></td></tr>
<tr class="separator:a3bcc51d0cf3127e8c0431d1cddc1c75b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_robust_kernel"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_robust_kernel')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></td></tr>
<tr class="memitem:affb1dacfd8507540281ff3af2ae6eeb8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a> () const</td></tr>
<tr class="separator:affb1dacfd8507540281ff3af2ae6eeb8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4f7b1e9d0c9925f98c0b828f554a8ab inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#ae4f7b1e9d0c9925f98c0b828f554a8ab">RobustKernel</a> ()</td></tr>
<tr class="separator:ae4f7b1e9d0c9925f98c0b828f554a8ab inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabd6883d9c5e33b567453585a80c7ad8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#aabd6883d9c5e33b567453585a80c7ad8">RobustKernel</a> (double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>)</td></tr>
<tr class="separator:aabd6883d9c5e33b567453585a80c7ad8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">setDelta</a> (double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>)</td></tr>
<tr class="memdesc:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the window size of the error.  <a href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">More...</a><br /></td></tr>
<tr class="separator:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d0512646603b993efdfc782df0e6df2 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a2d0512646603b993efdfc782df0e6df2">~RobustKernel</a> ()</td></tr>
<tr class="separator:a2d0512646603b993efdfc782df0e6df2 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a4a2976cb5f12553f0e00dfdf239b1231"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_scale_delta.html#a4a2976cb5f12553f0e00dfdf239b1231">_kernel</a></td></tr>
<tr class="separator:a4a2976cb5f12553f0e00dfdf239b1231"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classg2o_1_1_robust_kernel"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_robust_kernel')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></td></tr>
<tr class="memitem:a4b03953a6e7bfca64efea37fb98548aa inherit pro_attribs_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">_delta</a></td></tr>
<tr class="separator:a4b03953a6e7bfca64efea37fb98548aa inherit pro_attribs_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>scale a robust kernel to another delta (window size) </p>
<p>Scales a robust kernel to another window size. Useful, in case if one implements a kernel which only is designed for a fixed window size. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">g2o::RobustKernelScaleDelta::RobustKernelScaleDelta </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> &amp;&#160;</td>
          <td class="paramname"><em>kernel</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>delta</em> = <code>1.</code>&#160;</td>
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<p>construct the scaled kernel ontop of another kernel which might be shared accross several scaled kernels </p>

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          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>delta</em> = <code>1.</code></td><td>)</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> g2o::RobustKernelScaleDelta::kernel </td>
          <td>(</td>
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          <td> const</td>
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<p>return the underlying kernel </p>

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          <td class="memname">void g2o::RobustKernelScaleDelta::robustify </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>squaredError</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>rho</em>&#160;</td>
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<p>compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function </p>

<p>Implements <a class="el" href="classg2o_1_1_robust_kernel.html#ab47b071a0cfe466be063f0104bc41d0f">g2o::RobustKernel</a>.</p>

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          <td class="memname">void g2o::RobustKernelScaleDelta::setKernel </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> &amp;&#160;</td>
          <td class="paramname"><em>ptr</em></td><td>)</td>
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<p>use another kernel for the underlying operation </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="namespaceg2o.html#a0802a5e01a6b1861ae01013220dec6ac">RobustKernelPtr</a> g2o::RobustKernelScaleDelta::_kernel</td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="robust__kernel__impl_8h_source.html">robust_kernel_impl.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="robust__kernel__impl_8cpp.html">robust_kernel_impl.cpp</a></li>
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